CN109508028A - A kind of attitude of flight vehicle disturbance filtering method, apparatus and system - Google Patents
A kind of attitude of flight vehicle disturbance filtering method, apparatus and system Download PDFInfo
- Publication number
- CN109508028A CN109508028A CN201811623708.7A CN201811623708A CN109508028A CN 109508028 A CN109508028 A CN 109508028A CN 201811623708 A CN201811623708 A CN 201811623708A CN 109508028 A CN109508028 A CN 109508028A
- Authority
- CN
- China
- Prior art keywords
- frequency
- signal
- flapping wing
- aircraft
- signals
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001914 filtration Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 77
- 230000033001 locomotion Effects 0.000 claims abstract description 109
- 238000004458 analytical method Methods 0.000 claims abstract description 32
- 238000010183 spectrum analysis Methods 0.000 claims abstract description 15
- 230000008030 elimination Effects 0.000 claims description 30
- 238000003379 elimination reaction Methods 0.000 claims description 30
- 238000012216 screening Methods 0.000 claims description 16
- 238000013461 design Methods 0.000 claims description 12
- 238000005070 sampling Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000014759 maintenance of location Effects 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 10
- 238000001228 spectrum Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 108010076504 Protein Sorting Signals Proteins 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 238000011426 transformation method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses attitude of flight vehicle caused by a kind of flapping motion to disturb filtering method, apparatus and system, motion capture system acquires flapping wing aircraft motor message, flight control system acquires attitude signal, host computer carries out signature analysis respectively and obtains corresponding spectrogram, determines that flapping wing for ornithopter movement is attitude disturbance source；Motion capture system acquires flapping wing aircraft corresponding motor message when throttle signal gradually increases, and host computer carries out signature analysis to it, carries out the fitting of throttle and flapping wing frequency；Host computer obtains the corresponding flapping wing frequency of maximum throttle signal according to throttle and the fit correlation of flapping wing frequency, carries out low-pass filter as frequency threshold and filters out high-frequency interferencing signal；Host computer carries out spectrum analysis to the low-pass filter signal after filtering out high-frequency interferencing signal, according to amplitude threshold, filters out main frequency as disturbing signal frequency and carries out the disturbing signal that bandreject filtering filters out flapping wing aircraft.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and relates to a method, a device and a system for filtering aircraft attitude disturbance, in particular to a method, a device and a system for filtering aircraft attitude disturbance caused by flapping wing motion.
Background
The small unmanned aerial vehicle has the advantages of small volume, light weight, portability, convenient operation, flexibility, small taking-off and landing space, low noise, good concealment and the like, is widely concerned by people from the beginning, and is known to be one of high-technology products with wide development prospects. According to the difference of the lift force generation and propulsion mechanism, the small unmanned aerial vehicle can be divided into: fixed wing, rotor and flapping wing. The flight mechanism of the small unmanned aerial vehicle with the fixed wings and the rotor wings is respectively the same as that of the traditional fixed wing aircraft and the traditional helicopter, and certain theoretical knowledge and field data can be used for reference in the research and development work. The flapping wing bionic aircraft is a novel aircraft simulating birds or insects to fly, the lifting force and the thrust required by the flight of the flapping wing bionic aircraft are all generated by the motion of the flapping wings, and the flight principle is completely different from that of the flapping wing bionic aircraft.
Compared with the conventional aircraft, the small unmanned aerial vehicle has quite different aerodynamic characteristics, and the Reynolds coefficient is lower (the Reynolds coefficient represents the ratio of air inertia force to viscous force, and the Reynolds coefficient of the conventional aircraft is 106～108In 10, a small unmanned aerial vehicle1～105In between). At such a low Reynolds number, flying organisms in nature, such as birds and insects, do not fly in a fixed wing or rotor manner, but fly in a flapping wing manner. The flapping wing air vehicle has the following advantages: the flapping wing aircraft has stronger maneuverability and flexibility, the flapping wing flight can realize the change of the body position and the posture only by flapping and twisting of the wings, and the fixed wing aircraft and the rotor wing aircraft need a plurality of power sources to complete in a cooperative way; the flapping wing can fly in a gliding mode in the flying process, and saves a lot of energy compared with a fixed wing aircraft and a rotor aircraft; meanwhile, the flapping wing flight has high energy conversion efficiency, the long flight distance can be achieved by using less energy, and the flapping wing flight device is very suitable for executing long-distance tasks(ii) suitably; the flapping wings are selected for flying by flying creatures in nature, which shows that the flapping wings have more advantages to a certain extent.
Although domestic and foreign research institutions have achieved a series of achievements in the development of flapping-wing aircraft, so that the flapping-wing aircraft can fly, stable flight of the flapping-wing aircraft is still a problem to be solved urgently. The stable flight of the flapping wing air vehicle can not be separated from the precise attitude control. Therefore, the change of the attitude of the aircraft is accurately measured, and the attitude disturbance is filtered out, so that the stable flight of the aircraft is very important. During the flight of the flapping wing aircraft, the lift force is obtained through continuous flapping of the wings, so that the gravity can be overcome to realize the flight, but due to the action of periodic inertia force, the up-and-down flapping motion of the wings inevitably causes regular up-and-down motion of the aircraft in the pitching direction, the motion can cause larger disturbance to the true pitching angle of the aircraft, so that the aircraft presents periodic signal change characteristics, and meanwhile, the disturbance of other postures can be brought by coupling, the accurate control of the aircraft control system on the postures of the aircraft is influenced, and the aircraft can not stably fly. It is therefore necessary to address attitude disturbances caused by flapping motion.
In summary, an effective solution is not yet available for solving the problem of attitude disturbance caused by flapping wing motion in the prior art.
Disclosure of Invention
Aiming at the defects in the prior art and solving the problem of attitude disturbance caused by flapping wing motion in the prior art, the invention provides a method, a device and a system for filtering the aircraft attitude disturbance caused by the flapping wing motion, in particular to a method, a device and a system for filtering the aircraft attitude disturbance caused by the flapping wing motion.
The invention aims to provide a method for filtering out the disturbance of the attitude of an aircraft caused by the motion of an flapping wing.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for filtering out aircraft attitude disturbance caused by flapping wing motion comprises the following specific steps:
the motion capture system collects a flapping wing aircraft motion signal, a sensor in the aircraft control system collects an attitude signal and respectively uploads the attitude signal to a corresponding upper computer, the upper computer respectively performs signal characteristic analysis on the motion signal and the attitude signal to obtain a corresponding spectrogram, and the flapping wing motion of the aircraft is determined as an attitude disturbance source by comparing the spectrograms;
the step-by-step fixed flapping wing aircraft throttle motion capture system acquires corresponding motion signals of the flapping wing aircraft when throttle signals are gradually increased and uploads the motion signals to the upper computer, the upper computer analyzes the signal characteristics of the motion signals, and reads throttle data in a log of the flapping wing aircraft to fit the frequency of a throttle and a flapping wing;
the upper computer obtains the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and the flapping wing frequency is used as a frequency threshold value to design an analog low-pass filter, is converted into a digital low-pass filter and is arranged in an aircraft control system to filter high-frequency interference signals of the flapping wing aircraft;
and the upper computer performs spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, screens out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value, designs an analog band elimination filter, and converts the main frequency into a digital band elimination filter which is arranged in an aircraft control system to filter the disturbance signal of the flapping-wing aircraft.
As a further preferable scheme, in the method, the aircraft control system stores the acquired attitude signals and the acquired throttle signals in a log form, and the upper computer reads the attitude signals and the throttle signals in the log.
As a further preferred scheme, in the method, the upper computer performs signal characteristic analysis on the motion signal and the attitude signal by using FFT respectively to obtain corresponding spectrograms.
As a further preferable mode, in the method, the analog low-pass filter is converted into a digital low-pass filter by a bilinear conversion method.
As a further preferred aspect, in the method, the analog band rejection filter is converted into the digital band rejection filter by a bilinear conversion method.
As a further preferable aspect, in the method, the method of screening out the dominant frequency further includes:
sampling the low-pass filtering signal after filtering the high-frequency interference signal by a specific length, carrying out zero filling by adopting a laminated retention method, carrying out FFT (fast Fourier transform) conversion, and screening out the main frequency according to an amplitude threshold value.
The invention also provides a system for filtering the aircraft attitude disturbance caused by the flapping wing motion.
In order to achieve the purpose, the invention adopts the following technical scheme:
a system for filtering attitude disturbances of an aircraft caused by flapping motion, the system comprising:
the motion capture system is used for acquiring motion signals of the flapping wing aircraft and uploading the motion signals to the upper computer;
the upper computer is used for receiving the collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding frequency spectrograms, and determining that the flapping wing motion of the aircraft is an attitude disturbance source by comparing the frequency spectrograms; receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing; obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and designing an analog low-pass filter by using the flapping wing frequency as a frequency threshold value to filter out high-frequency interference signals; performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out a main frequency as a disturbing signal frequency according to an amplitude threshold value to design an analog band elimination filter to filter the disturbing signal;
the flapping wing aircraft control system comprises a hardware part and a software part, wherein the hardware part mainly comprises a controller and a sensor, the software part mainly comprises a digital low-pass filter, a digital band elimination filter and the like and is used for controlling the flight of the flapping wing aircraft, the sensor is used for acquiring attitude signals and uploading the attitude signals to an upper computer, and the digital low-pass filter is obtained by converting according to an analog low-pass filter designed by the upper computer so as to filter high-frequency interference signals; the digital band elimination filter is obtained by converting an analog band elimination filter designed by an upper computer so as to filter disturbance signals of the flapping wing air vehicle.
The third purpose of the invention is to provide a method for filtering out the disturbance of the aircraft attitude caused by the flapping wing motion.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for filtering out aircraft attitude disturbance caused by flapping wing motion is realized in an upper computer and comprises the following specific steps:
receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
It is a fourth object of the present invention to provide a computer-readable storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme:
a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to perform the process of:
receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
A fifth object of the present invention is to provide a terminal device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and to perform the process of:
receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
The invention has the beneficial effects that:
the method, the device and the system for filtering the aircraft attitude disturbance caused by the flapping wing motion can accurately capture the disturbance frequency of the flapping wing motion of the flapping wing aircraft to the real attitude of the aircraft, and can effectively filter the attitude disturbance signal, so that the aircraft control system can accurately control the attitude of the aircraft.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a flow chart of a method for filtering out disturbance of an aircraft attitude caused by flapping wing motion in embodiment 1 of the present invention;
FIG. 2 is a flow chart of a digital low-pass filtering method according to embodiment 1 of the present invention;
FIG. 3 is a flowchart of a disturbance frequency obtaining method according to embodiment 1 of the present invention;
FIG. 4 is a flowchart of a band-stop filtering method according to embodiment 1 of the present invention;
FIG. 5 is a diagram of a disturbance signal of the middle fuselage and a spectrum diagram thereof according to embodiment 1 of the present invention;
fig. 6 is a pitch angle sampling signal diagram of the central flight control system and a frequency spectrum diagram thereof in embodiment 1 of the present invention;
fig. 7 is a low-pass filter graph of a pitch angle sampling signal of a central flight control system and a frequency spectrum graph thereof according to embodiment 1 of the present invention;
FIG. 8 is a band-stop filtering diagram and a frequency spectrum diagram of a pitch angle low-pass filtering signal of the central flight control system in embodiment 1 of the present invention;
fig. 9 is a flowchart of a method for filtering out disturbance of the attitude of the aircraft caused by flapping wing motion according to embodiment 2 of the present invention.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, a segment, or a portion of code, which may comprise one or more executable instructions for implementing the logical function specified in the respective embodiment. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Without conflict, the embodiments and features of the embodiments of the present application may be combined with each other to further explain the present invention in conjunction with the figures and embodiments.
Example 1:
the purpose of this embodiment 1 is to provide a method for filtering out the disturbance of the attitude of an aircraft caused by the motion of an flapping wing.
In order to achieve the purpose, the invention adopts the following technical scheme:
as shown in figure 1 of the drawings, in which,
a method for filtering out aircraft attitude disturbance caused by flapping wing motion comprises the following specific steps:
step (1): the motion capture system collects motion signals of the flapping wing aircraft, a sensor in the aircraft control system collects attitude signals, the attitude signals are respectively uploaded to corresponding upper computers, the upper computers respectively carry out signal characteristic analysis on the motion signals and the attitude signals to obtain corresponding frequency spectrograms, and the flapping wing motion of the aircraft is determined to be an attitude disturbance source by comparing the frequency spectrograms;
step (2): the step-by-step fixed flapping wing aircraft throttle motion capture system acquires corresponding motion signals of the flapping wing aircraft when throttle signals are gradually increased and uploads the motion signals to the upper computer, the upper computer analyzes the signal characteristics of the motion signals, and reads throttle data in a log of the flapping wing aircraft to fit the frequency of a throttle and a flapping wing;
and (3): the upper computer obtains the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and the flapping wing frequency is used as a frequency threshold value to design an analog low-pass filter, is converted into a digital low-pass filter and is arranged in an aircraft control system to filter high-frequency interference signals of the flapping wing aircraft;
and (4): and the upper computer performs spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, screens out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value, designs an analog band elimination filter, and converts the main frequency into a digital band elimination filter which is arranged in an aircraft control system to filter the disturbance signal of the flapping-wing aircraft.
Step (1), disturbance signal analysis:
step (1-1): and collecting data. The method comprises the following steps that a plurality of reflective balls are arranged at the two ends of a fuselage and wings of the flapping wing aircraft to enable the flapping wing aircraft to carry out flapping wing motion, an optical three-dimensional motion capture system is used for collecting space motion signals of the aircraft, and data output is carried out through a corresponding upper computer; the method comprises the steps of installing an aircraft control system, such as an embedded processing board, on the flapping wing aircraft, moving along with the flapping wing aircraft, obtaining external movement information through an onboard IMU sensor and sampling attitude signals, storing the measured aircraft attitude signals in an SD card in a log mode, and reading data in the log through an aircraft ground station, namely an upper computer.
In step (1-1) of this embodiment, the aircraft control system stores the acquired attitude signals in the form of a log, and the upper computer reads the attitude signals in the log.
Step (1-2): and (6) analyzing the data. And the upper computer respectively performs signal characteristic analysis on the motion signal and the attitude signal, respectively performs FFT (fast Fourier transform) change on the two parts of data to obtain corresponding spectrograms, and determines that the flapping-wing motion of the aircraft is an attitude disturbance source by comparing the spectrograms. Fig. 5 shows a diagram of the disturbance signal of the fuselage and its spectrum. Fig. 6 shows a pitch angle sampling signal diagram of the flight control system and a frequency spectrum diagram thereof.
Step (2), flapping frequency analysis:
step (2-1): and collecting data. And fixing the throttle of the flapping wing aircraft in a grading manner, capturing the corresponding motion signal of the flapping wing aircraft when the throttle signal is gradually increased by an optical three-dimensional motion capture system, reading the throttle data recorded in the log by an aircraft ground station, namely an upper computer, and analyzing by combining the aircraft motion signal of the optical three-dimensional motion capture system.
Step (2-2): and (6) fitting the data. The upper computer performs signal characteristic analysis on the motion signal, performs FFT (fast Fourier transform) change to obtain a main frequency, reads throttle data in a flapping wing aircraft log, and performs fitting of the throttle and the flapping wing frequency by using a polynomial fitting method;
in step (2-2) of this embodiment, the aircraft control system stores the acquired throttle signal in a log format, and the upper computer reads the throttle signal in the log.
And (3) filtering high-frequency interference signals: in this embodiment, a normalized analog low-pass filter is designed by using an analog filter design method, then a digital filter is obtained by using a bilinear transform (BLT) method for converting the analog filter into the digital filter, and finally a difference equation is solved by using a digital low-pass filtering method, and a filtering signal is iteratively solved, so as to filter a high-frequency interference signal.
Step (3-1): an analog low pass filter is designed. The upper computer obtains the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and the flapping wing frequency is used as a frequency threshold value to design a simulation low-pass filter.
As shown in fig. 2, a normalized analog low-pass filter, i.e., a prototype low-pass filter, is first designed, and indexes are as follows: passband boundary frequency fpassStop band boundary frequency fstopPassband ripple RpAnd stopband ripple RsThe cutoff frequency f is obtained from the above indexcAnd filter order LnObtaining a system function of the normalized analog low-pass filter; then, obtaining a digital low-pass filter by adopting a double-line transformation method (BLT), and solving a system function of the low-pass filter so as to obtain a difference equation; finally with FsSampling frequency samples the attitude angle signal of the aircraft, the length of a sampling sequence is L, low-pass filtering is carried out on the sampling signal, and then the output of the low-pass filtering signal of the sampling sequence is as follows:
that is to say that the first and second electrodes,
wherein, the x (n) sequence is a signal sequence before filtering, akAnd bmIs a system array of the denominator and the numerator of the low-pass filter system function, N and M respectively represent the length of the system array of the denominator and the numerator of the system function, y (N) is the filtered signal sequence,and x (n) and y (n) are identical in sequence, a0When k is equal to 1<At 0, x (k) and y (k) are both 0. After iteration, all values of the y (n) sequence can be found.
FIG. 7 shows a flight control system pitch angle sampling signal low-pass filter graph and a frequency spectrum graph thereof.
Step (3-2): high-frequency interference signal filtering is realized on an aircraft control system. The analog filter is converted to a digital low pass filter by a bilinear transform method (BLT) method. This step is implemented on the aircraft control system.
Step (4), filtering disturbance signals:
step (4-1): the upper computer performs spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, performs FFT (fast Fourier transform), ensures the disturbance frequency capture precision and the signal processing low delay during FFT, and screens out the main frequency according to an amplitude threshold value, namely disturbance frequency acquisition;
as shown in fig. 3, the method of screening out the dominant frequency, i.e. the disturbance frequency acquisition, further includes:
sampling the low-pass filtering signal after filtering the high-frequency interference signal by a specific length, in order to solve the delay problem, carrying out zero filling by adopting a laminated retention method, also meeting the requirement of resolution ratio, carrying out FFT (fast Fourier transform), and screening out the main frequency according to an amplitude threshold value.
In this embodiment, a stack retention method is used to solve the data delay problem, and frequency domain analysis methods including Discrete Hartley Transform (DHT), Discrete W Transform (DWT), DFT and the like may be used, and then a Fast Fourier Transform (FFT) which is a fast algorithm of discrete fourier transform is used in this application example to analyze the frequency characteristics of the signal. However, the above method is only a part of application examples of the method, and not all application examples.
Firstly, regarding equation (2), divide it into j-th block data y with length Lj(n) and performing FFT conversion of L points on the block data to convert the block data to the frequency domain, then y of L pointsj(n) the signal transformation can be written as:
wherein,thenAnd yj(n) independently, i and n each represent a matrixThe row and column labels of (1); y isj(i) Denotes yj(n) the transform value of the sequence in the frequency domain is a complex sequence of L points, each point corresponds to a frequency point, L/2+1 points of useful information exist according to the central symmetry of FFT transform, and repeated information is not usually displayed in a signal frequency spectrum; then, for the result of the transformation of the formula (3), each frequency point F is obtainednCorresponding amplitude characteristic An(ii) a Finally, setting an amplitude threshold A according to the signal characteristicscTo screen out disturbance frequency Fc：
Fn＝(i-1)Fs/L,1≤i<L/2+1 (4)
An＝|Y(i)|,1≤i<L/2+1 (5)
When i is 1, i.e. 0hz, the first point represents the dc component
When i ≠ 1, take
Fc＝{Fn|An>Ac,1≤n<L/2+1}(6)
Thereby solving for the frequency of disturbances within the tile data.
But each time a sequence y of length L is acquiredj(n) performing an L-point FFT results in an L-1 point delay, which places high real-time requirements on the aircraft control systemAnd the data acquisition is not allowed, so that the unit application example adopts an overlap reservation method to acquire the data. Suppose that the number of update data per calculation is LNewThen the data of the L point blocks participating in FFT transformation each time is L-LNewTail data and L of previous block dataNewFor new sample data, then:
when j is 0
When j is 1,2,3.
In this embodiment, a normalized analog band-stop filter is first designed by using an analog filter design method, then a bilinear transform (BLT) method for converting the analog filter into a digital filter is used to perform conversion of the analog filter, and finally a difference equation is solved by using a digital band-stop filtering method, and a filtering signal is iteratively solved, so as to filter a disturbing signal.
Step (4-2): an analog band reject filter is designed. And designing an analog band elimination filter by taking the screened main frequency as the frequency of the disturbance signal, and converting the frequency into a digital band elimination filter which is arranged in an aircraft control system to filter the disturbance signal of the flapping wing aircraft.
In this embodiment, the disturbing signal is filtered in real time, and under the condition of low delay, the corresponding filter index is determined along with the frequency of the disturbing signal, and a band-stop filter is designed by using a digital filtering method to filter the disturbing signal.
As shown in FIG. 4, first, the upper and lower limit frequencies f of the passband of the band-stop filter are designed according to the disturbance frequency obtained by equation (6)pU、fpLUpper and lower limiting frequency f of stop bandsU、fsLPassband ripple of RpbandStopband ripple RsbandThen, thenCalculating the upper and lower cut-off frequencies f of the stop band according to the above indexescU、fcLAnd order L of the band-stop filterNAnd further obtaining a normalized analog band elimination filter system function, then obtaining a digital band elimination filter by adopting a bilinear transformation method, obtaining a digital band elimination filter system function, further obtaining a filter difference equation, and iteratively obtaining a final filter signal by adopting methods of the formulas (1) and (2). Fig. 8 shows a band-stop filtering diagram of a pitch angle low-pass filtering signal of the flight control system and a frequency spectrum diagram thereof.
Step (4-3): and filtering the disturbance signal on an aircraft control system. The analog band rejection filter is converted to a digital band rejection filter by a bilinear transform method (BLT) method. This step is implemented on the aircraft control system. The aircraft can stably fly according to the expected attitude angle, so that the accident of the aircraft caused by large attitude disturbance is avoided.
The object of the present embodiment also includes providing a system for filtering out disturbances in the attitude of an aircraft caused by flapping movements.
In order to achieve the purpose, the invention adopts the following technical scheme:
a system for filtering attitude disturbances of an aircraft caused by flapping motion, the system comprising:
the motion capture system is used for acquiring motion signals of the flapping wing aircraft and uploading the motion signals to the upper computer;
the upper computer is used for receiving the collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding frequency spectrograms, and determining that the flapping wing motion of the aircraft is an attitude disturbance source by comparing the frequency spectrograms; receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing; obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and designing an analog low-pass filter by using the flapping wing frequency as a frequency threshold value to filter out high-frequency interference signals; performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out a main frequency as a disturbing signal frequency according to an amplitude threshold value to design an analog band elimination filter to filter the disturbing signal;
the flapping wing aircraft control system is arranged at a position, close to a nose, of a flapping wing aircraft and comprises a controller, wherein the controller is respectively connected with a sensor, a digital low-pass filter and a digital band elimination filter and is used for controlling the flapping wing aircraft to fly, the sensor is used for acquiring attitude signals and uploading the attitude signals to an upper computer, and the digital low-pass filter is converted according to an analog low-pass filter designed by the upper computer to filter high-frequency interference signals; the digital band elimination filter is obtained by converting an analog band elimination filter designed by an upper computer so as to filter disturbance signals of the flapping wing air vehicle.
Example 2:
the purpose of this embodiment 2 is to provide a method for filtering out the disturbance of the attitude of an aircraft caused by the motion of flapping wings.
In order to achieve the purpose, the invention adopts the following technical scheme:
as shown in figure 9 of the drawings,
a method for filtering out aircraft attitude disturbance caused by flapping wing motion is realized in an upper computer and comprises the following specific steps:
step (1): receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
step (2): receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
and (3): obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and (4): and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
The object of this embodiment 2 also includes providing a computer-readable storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme:
a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to perform the process of:
step (1): receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
step (2): receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
and (3): obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and (4): and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
The object of this embodiment 2 further includes providing a terminal device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and to perform the process of:
step (1): receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
step (2): receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
and (3): obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and (4): and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
These computer-executable instructions, when executed in a device, cause the device to perform methods or processes described in accordance with various embodiments of the present disclosure.
In the present embodiments, a computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for performing various aspects of the present disclosure. The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present disclosure by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
It should be noted that although several modules or sub-modules of the device are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the modules described above may be embodied in one module in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into embodiments by a plurality of modules.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for filtering out aircraft attitude disturbance caused by flapping wing motion is characterized by comprising the following specific steps:
the motion capture system collects a motion signal of the flapping wing aircraft, a sensor in the aircraft control system collects an attitude signal, the attitude signal is uploaded to an upper computer respectively, the upper computer carries out signal characteristic analysis on the motion signal and the attitude signal respectively to obtain corresponding frequency spectrograms, and the flapping wing motion of the aircraft is determined to be an attitude disturbance source by comparing the frequency spectrograms;
the step-by-step fixed flapping wing aircraft throttle motion capture system acquires corresponding motion signals of the flapping wing aircraft when throttle signals are gradually increased and uploads the motion signals to the upper computer, the upper computer analyzes the signal characteristics of the motion signals, and reads throttle data in a log of the flapping wing aircraft to fit the frequency of a throttle and a flapping wing;
the upper computer obtains the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and the flapping wing frequency is used as a frequency threshold value to design an analog low-pass filter, is converted into a digital low-pass filter and is arranged in an aircraft control system to filter high-frequency interference signals of the flapping wing aircraft;
and the upper computer performs spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, screens out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value, designs an analog band elimination filter, and converts the main frequency into a digital band elimination filter which is arranged in an aircraft control system to filter the disturbance signal of the flapping-wing aircraft.
2. A method according to claim 1, wherein in the method the aircraft control system stores the collected attitude signals and throttle signals in a log and the upper computer reads the attitude signals and throttle signals in the log.
3. The method of claim 1, wherein in the method, the upper computer performs signal characteristic analysis on the motion signal and the attitude signal respectively by using FFT to obtain corresponding spectrograms.
4. A method as claimed in claim 1, characterized in that in the method the analog low-pass filter is converted into a digital low-pass filter by means of a bilinear transformation.
5. A method according to claim 1, characterized in that in the method the analog band stop filter is converted into a digital band stop filter by a bilinear conversion method.
6. The method of claim 1, wherein in the method, the method of screening for dominant frequencies further comprises:
sampling the low-pass filtering signal after filtering the high-frequency interference signal by a specific length, carrying out zero filling by adopting a laminated retention method, carrying out FFT (fast Fourier transform) conversion, and screening out the main frequency according to an amplitude threshold value.
7. An attitude disturbance filtering system for an aircraft caused by flapping motion, the system being based on the method of any one of claims 1-6, comprising:
the motion capture system is used for acquiring motion signals of the flapping wing aircraft and uploading the motion signals to the upper computer;
the upper computer is used for receiving the collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding frequency spectrograms, and determining that the flapping wing motion of the aircraft is an attitude disturbance source by comparing the frequency spectrograms; receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing; obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and designing an analog low-pass filter by using the flapping wing frequency as a frequency threshold value to filter out high-frequency interference signals; performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out a main frequency as a disturbing signal frequency according to an amplitude threshold value to design an analog band elimination filter to filter the disturbing signal;
the flapping wing aircraft control system comprises a controller, wherein the controller is respectively connected with a sensor, a digital low-pass filter and a digital band elimination filter and is used for controlling the flapping wing aircraft to fly, the sensor is used for acquiring attitude signals and uploading the attitude signals to an upper computer, and the digital low-pass filter is converted according to an analog low-pass filter designed by the upper computer to filter high-frequency interference signals; the digital band elimination filter is obtained by converting an analog band elimination filter designed by an upper computer so as to filter disturbance signals of the flapping wing air vehicle.
8. A method for filtering out aircraft attitude disturbance caused by flapping wing motion is realized in an upper computer and is characterized by comprising the following specific steps:
receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
9. A computer-readable storage medium having stored thereon a plurality of instructions, characterized in that said instructions are adapted to be loaded by a processor of a terminal device and to perform the method according to claim 8.
10. A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer-readable storage medium storing a plurality of instructions for performing the method of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623708.7A CN109508028B (en) | 2018-12-28 | 2018-12-28 | Aircraft attitude disturbance filtering method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811623708.7A CN109508028B (en) | 2018-12-28 | 2018-12-28 | Aircraft attitude disturbance filtering method, device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109508028A true CN109508028A (en) | 2019-03-22 |
| CN109508028B CN109508028B (en) | 2020-09-29 |
Family
ID=65756732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811623708.7A Active CN109508028B (en) | 2018-12-28 | 2018-12-28 | Aircraft attitude disturbance filtering method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109508028B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110045748A (en) * | 2019-04-03 | 2019-07-23 | 深圳高速工程检测有限公司 | Flying vehicles control method, apparatus, computer equipment and storage medium |
| CN112748409A (en) * | 2020-12-21 | 2021-05-04 | 中国航天科工集团八五一一研究所 | FPGA-based interference signal compression storage method |
| CN114322931A (en) * | 2021-11-23 | 2022-04-12 | 潍柴动力股份有限公司 | Gradient sensor signal processing method, device, equipment, system and medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN105644784A (en) * | 2016-03-23 | 2016-06-08 | 北京科技大学 | Vibration control method and device for ornithopter |
| CN106017847A (en) * | 2016-05-11 | 2016-10-12 | 上海工程技术大学 | Observation system and method for aerodynamic force test and flapping wing flow field of flapping-wing micro air vehicle |
| CN108121855A (en) * | 2017-12-06 | 2018-06-05 | 北京理工大学 | Small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing |
| WO2018122830A1 (en) * | 2016-12-31 | 2018-07-05 | Ratti Jayant | High endurance unmanned aerial vehicle |
| CN108897334A (en) * | 2018-07-19 | 2018-11-27 | 上海交通大学 | A kind of imitative insect flapping wing aircraft attitude control method based on fuzzy neural network |
| US10302452B1 (en) * | 2016-06-21 | 2019-05-28 | Amazon Technologies, Inc. | Unmanned aerial vehicle sensor calibration via sensor channel |
| EP3495267A1 (en) * | 2017-12-05 | 2019-06-12 | The Boeing Company | Unmanned aerial vehicle |
-
2018
- 2018-12-28 CN CN201811623708.7A patent/CN109508028B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN105644784A (en) * | 2016-03-23 | 2016-06-08 | 北京科技大学 | Vibration control method and device for ornithopter |
| CN106017847A (en) * | 2016-05-11 | 2016-10-12 | 上海工程技术大学 | Observation system and method for aerodynamic force test and flapping wing flow field of flapping-wing micro air vehicle |
| US10302452B1 (en) * | 2016-06-21 | 2019-05-28 | Amazon Technologies, Inc. | Unmanned aerial vehicle sensor calibration via sensor channel |
| WO2018122830A1 (en) * | 2016-12-31 | 2018-07-05 | Ratti Jayant | High endurance unmanned aerial vehicle |
| EP3495267A1 (en) * | 2017-12-05 | 2019-06-12 | The Boeing Company | Unmanned aerial vehicle |
| CN108121855A (en) * | 2017-12-06 | 2018-06-05 | 北京理工大学 | Small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing |
| CN108897334A (en) * | 2018-07-19 | 2018-11-27 | 上海交通大学 | A kind of imitative insect flapping wing aircraft attitude control method based on fuzzy neural network |
Non-Patent Citations (1)
| Title |
|---|
| CHAN WOEI LEONG ETC: ""Stability Derivatives Identification on a Tailless Flapping Wing MAV"", 《ICIUS2018》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110045748A (en) * | 2019-04-03 | 2019-07-23 | 深圳高速工程检测有限公司 | Flying vehicles control method, apparatus, computer equipment and storage medium |
| CN110045748B (en) * | 2019-04-03 | 2022-05-03 | 深圳高速工程检测有限公司 | Aircraft control method, aircraft control device, computer equipment and storage medium |
| CN112748409A (en) * | 2020-12-21 | 2021-05-04 | 中国航天科工集团八五一一研究所 | FPGA-based interference signal compression storage method |
| CN112748409B (en) * | 2020-12-21 | 2024-02-13 | 中国航天科工集团八五一一研究所 | FPGA-based interference signal compression storage method |
| CN114322931A (en) * | 2021-11-23 | 2022-04-12 | 潍柴动力股份有限公司 | Gradient sensor signal processing method, device, equipment, system and medium |
| CN114322931B (en) * | 2021-11-23 | 2024-05-17 | 潍柴动力股份有限公司 | Gradient sensor signal processing method, device, equipment, system and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109508028B (en) | 2020-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109508028B (en) | Aircraft attitude disturbance filtering method, device and system | |
| CN105228054B (en) | Flight instruments, filming apparatus and its recording denoising device and method | |
| Heredia et al. | Virtual sensor for failure detection, identification and recovery in the transition phase of a morphing aircraft | |
| Papa et al. | Preliminary design of an unmanned aircraft system for aircraft general visual inspection | |
| CN109542119A (en) | Aircraft flight course planning method and system | |
| WO2016025887A2 (en) | Flight parameter prediction using neural networks | |
| CN205051857U (en) | Flying device , shooting device and device of making an uproar falls in recording thereof | |
| CN111950503A (en) | Aviation transient electromagnetic data processing method and device and computing equipment | |
| US12092463B2 (en) | Real-time display method, device, system and storage medium of three-dimensional point cloud | |
| CN108919362A (en) | Boat Magnetic Detection System and method | |
| CN110135076A (en) | A kind of holder mechanical structure multiple target integrated optimization method based on ISIGHT associative simulation | |
| CN112508004A (en) | Character recognition method and device, electronic equipment and storage medium | |
| Johnson et al. | Solar-powered shape-changing origami microfliers | |
| Li et al. | Wing‐kinematics measurement and flight modelling of the bamboo weevil C. buqueti | |
| Ai et al. | Sequence-to-sequence remaining useful life prediction of the highly maneuverable unmanned aerial vehicle: A multilevel fusion transformer network solution | |
| Billingsley et al. | On the aerodynamic analysis and conceptual design of bioinspired multi-flapping-wing drones | |
| Saleem et al. | Civil Use of Autonomous Pilotless Aerial Vehicle | |
| Kossowski et al. | Laboratory tests of the resistance of an unmanned aerial vehicle to the normalized near lightning electrical component | |
| Li et al. | Ground test and numerical simulation of aerodynamic interference of the marsupial UAS | |
| Kumar et al. | Mixed reality simulation of high-endurance unmanned aerial vehicle with dual-head electromagnetic propulsion devices for earth and other planetary explorations | |
| Throneberry et al. | Wake Propagation and Characteristics of a Multi-Rotor Unmanned Vehicle in Forward Flight | |
| Mazharmanesh et al. | Performance of passively pitching flapping wings in the presence of vertical inflows | |
| CN111967299B (en) | Unmanned aerial vehicle inspection method, unmanned aerial vehicle inspection device, unmanned aerial vehicle inspection equipment and storage medium | |
| Zhang | Deconstruction of the Application of Police Drone Technology Integrating Fourier Fast Transform Algorithm in the 5G Network Era | |
| Keleshis et al. | Data Acquisition (DAQ) system dedicated for remote sensing applications on Unmanned Aerial Vehicles (UAV) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |